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http://dx.doi.org/10.7839/ksfc.2020.17.3.033

Implementation of Virtual Environment System for Multi-joint Manipulator Designed for Special Purpose Equipment with Wearable Joystick used in Disaster Response  

Cha, Young Taek (Construction Equipment Technology Center, Korea Institute of Industrial Technology)
Lee, Yeon Ho (Construction Equipment Technology Center, Korea Institute of Industrial Technology)
Choi, Sung Joon (Construction Equipment Technology Center, Korea Institute of Industrial Technology)
Publication Information
Journal of Drive and Control / v.17, no.3, 2020 , pp. 33-46 More about this Journal
Abstract
We introduce a piece of special-purpose equipment for responding to disasters that has a dual-arm manipulator consisting of six-axis multi joints, and a master-slave operating system controlled by a wearable joystick for intuitive and convenient operation. However, due to the complexity and diversity of a disaster environment, training and suitable training means are needed to improve the interaction between the driver and equipment. Therefore, in this paper, a system that can improve the operator's immersion in the training simulation is proposes, this system is implemented in a virtual environment. The implemented system consists of a cabin installed with the master-slave operation system, a motion platform, visual and sound systems, as well as a real-time simulation device. This whole system was completed by applying various techniques such as a statistical mapping method, inverse kinematics, and a real-time physical model. Then, the implemented system was evaluated from a point of view of the appropriateness of the mapping method, inverse kinematics, the feasibility for real-time simulations of the physical environment through some task mode.
Keywords
Special Purpose Equipment Responding Disasters; 6-axis Multi-joint Manipulator; Virtual Environment; Master-slave Operation System; Wearable Joystick;
Citations & Related Records
Times Cited By KSCI : 4  (Citation Analysis)
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